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<div class="title">PxArticulationLink.h</div>  </div>
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<a href="PxArticulationLink_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Redistribution and use in source and binary forms, with or without</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">// modification, are permitted provided that the following conditions</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">// are met:</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">//  * Redistributions of source code must retain the above copyright</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">//    notice, this list of conditions and the following disclaimer.</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">//  * Redistributions in binary form must reproduce the above copyright</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">//    notice, this list of conditions and the following disclaimer in the</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">//    documentation and/or other materials provided with the distribution.</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">//  * Neither the name of NVIDIA CORPORATION nor the names of its</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">//    contributors may be used to endorse or promote products derived</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">//    from this software without specific prior written permission.</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS &#39;&#39;AS IS&#39;&#39; AND ANY</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">// PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment">// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment">// Copyright (c) 2008-2021 NVIDIA Corporation. All rights reserved.</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment">// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment">// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  </span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="preprocessor">#ifndef PX_PHYSICS_NX_ARTICULATION_LINK</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="preprocessor">#define PX_PHYSICS_NX_ARTICULATION_LINK</span></div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="PxPhysXConfig_8h.html">PxPhysXConfig.h</a>&quot;</span></div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="PxArticulationJoint_8h.html">PxArticulationJoint.h</a>&quot;</span></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="PxRigidBody_8h.html">PxRigidBody.h</a>&quot;</span></div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#if !PX_DOXYGEN</span></div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacephysx.html">physx</a></div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;{</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    <span class="keyword">class </span><a class="code" href="classPxArticulationBase.html">PxArticulationBase</a>;</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;</div><div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="classPxArticulationLink.html">   57</a></span>&#160;<span class="keyword">class </span><a class="code" href="classPxArticulationLink.html">PxArticulationLink</a> : <span class="keyword">public</span> <a class="code" href="classPxRigidBody.html">PxRigidBody</a></div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;{</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    <span class="keyword">virtual</span>     <span class="keywordtype">void</span>                        release() = 0;</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <span class="keyword">virtual</span>     <a class="code" href="classPxArticulationBase.html">PxArticulationBase</a>&amp;         getArticulation() <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    <span class="keyword">virtual</span>     <a class="code" href="classPxArticulationJointBase.html">PxArticulationJointBase</a>*    getInboundJoint() <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    <span class="keyword">virtual</span>     <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a>                       getInboundJointDof() <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    <span class="keyword">virtual</span>     <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a>                       getNbChildren() <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    <span class="keyword">virtual</span>     <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a>                       getLinkIndex() <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    <span class="keyword">virtual</span>     <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a>                       getChildren(<a class="code" href="classPxArticulationLink.html">PxArticulationLink</a>** userBuffer, <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> bufferSize, <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> startIndex=0) <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;</div><div class="line"><a name="l00125"></a><span class="lineno"><a class="line" href="classPxArticulationLink.html#afaa71dfb9bd3348b6cbe58902cfe63c8">  125</a></span>&#160;    <span class="keyword">virtual</span>     <span class="keyword">const</span> <span class="keywordtype">char</span>*                 <a class="code" href="classPxArticulationLink.html#afaa71dfb9bd3348b6cbe58902cfe63c8">getConcreteTypeName</a>()<span class="keyword">       const       </span>{ <span class="keywordflow">return</span> <span class="stringliteral">&quot;PxArticulationLink&quot;</span>;  }</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;<span class="keyword">protected</span>:</div><div class="line"><a name="l00128"></a><span class="lineno"><a class="line" href="classPxArticulationLink.html#ace5afc3529010882d65234d3a2954665">  128</a></span>&#160;    <a class="code" href="group__foundation.html#gacb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a>                               <a class="code" href="classPxArticulationLink.html#ace5afc3529010882d65234d3a2954665">PxArticulationLink</a>(<a class="code" href="group__common.html#gac1fb4b256a5d900d394e89db170a2b79">PxType</a> concreteType, <a class="code" href="classPxFlags.html">PxBaseFlags</a> baseFlags) : <a class="code" href="classPxRigidBody.html">PxRigidBody</a>(concreteType, baseFlags) {}</div><div class="line"><a name="l00129"></a><span class="lineno"><a class="line" href="classPxArticulationLink.html#a65430cf2c55e6b1004a2743a3d2e3588">  129</a></span>&#160;    <a class="code" href="group__foundation.html#gacb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a>                               <a class="code" href="classPxArticulationLink.html#a65430cf2c55e6b1004a2743a3d2e3588">PxArticulationLink</a>(<a class="code" href="classPxFlags.html">PxBaseFlags</a> baseFlags) : <a class="code" href="classPxRigidBody.html">PxRigidBody</a>(baseFlags)  {}</div><div class="line"><a name="l00130"></a><span class="lineno"><a class="line" href="classPxArticulationLink.html#a70d94b425d53baa766606be518407c65">  130</a></span>&#160;    <span class="keyword">virtual</span>                                 <a class="code" href="classPxArticulationLink.html#a70d94b425d53baa766606be518407c65">~PxArticulationLink</a>()   {}</div><div class="line"><a name="l00131"></a><span class="lineno"><a class="line" href="classPxArticulationLink.html#a6e3fa396e7207fa370644a23db1467ab">  131</a></span>&#160;    <span class="keyword">virtual</span>     <span class="keywordtype">bool</span>                        <a class="code" href="classPxArticulationLink.html#a6e3fa396e7207fa370644a23db1467ab">isKindOf</a>(<span class="keyword">const</span> <span class="keywordtype">char</span>* name)<span class="keyword">  const       </span>{ <span class="keywordflow">return</span> !::strcmp(<span class="stringliteral">&quot;PxArticulationLink&quot;</span>, name) || <a class="code" href="classPxRigidBody.html#a126446a6de640cdc08d339911f826270">PxRigidBody::isKindOf</a>(name);  }</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;};</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;<span class="preprocessor">#if !PX_DOXYGEN</span></div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;} <span class="comment">// namespace physx</span></div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="namespacephysx_html"><div class="ttname"><a href="namespacephysx.html">physx</a></div><div class="ttdef"><b>Definition:</b> GuContactBuffer.h:37</div></div>
<div class="ttc" id="classPxArticulationLink_html_ace5afc3529010882d65234d3a2954665"><div class="ttname"><a href="classPxArticulationLink.html#ace5afc3529010882d65234d3a2954665">PxArticulationLink::PxArticulationLink</a></div><div class="ttdeci">PX_INLINE PxArticulationLink(PxType concreteType, PxBaseFlags baseFlags)</div><div class="ttdef"><b>Definition:</b> PxArticulationLink.h:128</div></div>
<div class="ttc" id="classPxArticulationLink_html_a70d94b425d53baa766606be518407c65"><div class="ttname"><a href="classPxArticulationLink.html#a70d94b425d53baa766606be518407c65">PxArticulationLink::~PxArticulationLink</a></div><div class="ttdeci">virtual ~PxArticulationLink()</div><div class="ttdef"><b>Definition:</b> PxArticulationLink.h:130</div></div>
<div class="ttc" id="classPxArticulationLink_html_a6e3fa396e7207fa370644a23db1467ab"><div class="ttname"><a href="classPxArticulationLink.html#a6e3fa396e7207fa370644a23db1467ab">PxArticulationLink::isKindOf</a></div><div class="ttdeci">virtual bool isKindOf(const char *name) const</div><div class="ttdoc">Returns whether a given type name matches with the type of this instance. </div><div class="ttdef"><b>Definition:</b> PxArticulationLink.h:131</div></div>
<div class="ttc" id="PxRigidBody_8h_html"><div class="ttname"><a href="PxRigidBody_8h.html">PxRigidBody.h</a></div></div>
<div class="ttc" id="PxPhysXConfig_8h_html"><div class="ttname"><a href="PxPhysXConfig_8h.html">PxPhysXConfig.h</a></div></div>
<div class="ttc" id="group__common_html_gac1fb4b256a5d900d394e89db170a2b79"><div class="ttname"><a href="group__common.html#gac1fb4b256a5d900d394e89db170a2b79">PxType</a></div><div class="ttdeci">PxU16 PxType</div><div class="ttdef"><b>Definition:</b> PxBase.h:49</div></div>
<div class="ttc" id="classPxArticulationLink_html"><div class="ttname"><a href="classPxArticulationLink.html">PxArticulationLink</a></div><div class="ttdoc">a component of an articulation that represents a rigid body </div><div class="ttdef"><b>Definition:</b> PxArticulationLink.h:57</div></div>
<div class="ttc" id="classPxArticulationLink_html_afaa71dfb9bd3348b6cbe58902cfe63c8"><div class="ttname"><a href="classPxArticulationLink.html#afaa71dfb9bd3348b6cbe58902cfe63c8">PxArticulationLink::getConcreteTypeName</a></div><div class="ttdeci">virtual const char * getConcreteTypeName() const</div><div class="ttdoc">Returns string name of dynamic type. </div><div class="ttdef"><b>Definition:</b> PxArticulationLink.h:125</div></div>
<div class="ttc" id="classPxArticulationJointBase_html"><div class="ttname"><a href="classPxArticulationJointBase.html">PxArticulationJointBase</a></div><div class="ttdef"><b>Definition:</b> PxArticulationJoint.h:69</div></div>
<div class="ttc" id="PxArticulationJoint_8h_html"><div class="ttname"><a href="PxArticulationJoint_8h.html">PxArticulationJoint.h</a></div></div>
<div class="ttc" id="classPxArticulationBase_html"><div class="ttname"><a href="classPxArticulationBase.html">PxArticulationBase</a></div><div class="ttdoc">a tree structure of bodies connected by joints that is treated as a unit by the dynamics solver ...</div><div class="ttdef"><b>Definition:</b> PxArticulationBase.h:56</div></div>
<div class="ttc" id="classPxFlags_html"><div class="ttname"><a href="classPxFlags.html">PxFlags&lt; PxBaseFlag::Enum, PxU16 &gt;</a></div></div>
<div class="ttc" id="classPxRigidBody_html"><div class="ttname"><a href="classPxRigidBody.html">PxRigidBody</a></div><div class="ttdoc">PxRigidBody is a base class shared between dynamic rigid body objects. </div><div class="ttdef"><b>Definition:</b> PxRigidBody.h:195</div></div>
<div class="ttc" id="classPxRigidBody_html_a126446a6de640cdc08d339911f826270"><div class="ttname"><a href="classPxRigidBody.html#a126446a6de640cdc08d339911f826270">PxRigidBody::isKindOf</a></div><div class="ttdeci">virtual bool isKindOf(const char *name) const</div><div class="ttdoc">Returns whether a given type name matches with the type of this instance. </div><div class="ttdef"><b>Definition:</b> PxRigidBody.h:730</div></div>
<div class="ttc" id="group__foundation_html_gacce5749db3dcfb916e98c253374264ed"><div class="ttname"><a href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a></div><div class="ttdeci">uint32_t PxU32</div><div class="ttdef"><b>Definition:</b> Px.h:48</div></div>
<div class="ttc" id="group__foundation_html_gacb03347b642a2a5bdea1f9b305a6fbec"><div class="ttname"><a href="group__foundation.html#gacb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a></div><div class="ttdeci">#define PX_INLINE</div><div class="ttdef"><b>Definition:</b> PxPreprocessor.h:336</div></div>
<div class="ttc" id="classPxArticulationLink_html_a65430cf2c55e6b1004a2743a3d2e3588"><div class="ttname"><a href="classPxArticulationLink.html#a65430cf2c55e6b1004a2743a3d2e3588">PxArticulationLink::PxArticulationLink</a></div><div class="ttdeci">PX_INLINE PxArticulationLink(PxBaseFlags baseFlags)</div><div class="ttdef"><b>Definition:</b> PxArticulationLink.h:129</div></div>
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